Doffing apparatus and automatically guided vehicle comprising the same

Abstract

A doffing apparatus can be configured to couple to an automatically guided vehicle (AGV). The doffing apparatus can comprise at least one elongate arm, each elongate arm having a proximal end, a distal end, and a length, and at least one driver, each driver being configured to move along a respective elongate arm to move a bobbin toward the distal end of the elongate arm. The doffing apparatus can further comprise at least one alignment device. The doffing apparatus can further comprise a processor, wherein the processor is configured to: receive feedback from the at least one alignment device, provide a control signal to cause the AGV to align the elongate arm with a receptacle at a loader, and move the driver a select distance along the length of the elongate arm.

What is claimed is: 
     
       1. A system comprising:
 an AGV; 
 a doffing apparatus that is coupled to the AGV, wherein the doffing apparatus comprises:
 at least one elongate arm, each elongate arm having a proximal end, a distal end, and a length, wherein at least a portion of each elongate arm of the at least one elongate arm is configured to support at least one bobbin on the elongate arm; and 
 at least one driver, each driver being configured to move along a respective elongate arm to move a bobbin toward the distal end of the elongate arm, wherein when at least one bobbin is supported on the respective elongate arm, distal movement of the driver along the respective elongate arm is configured to move the at least one bobbin toward the distal end of the elongate arm; 
 at least one alignment device configured to provide an output indicative of a location of one or more elongate arms with respect to one or more target locations; and 
 at least one processor, wherein the at least one processor is configured to:
 receive feedback from the at least one alignment device, 
 provide a control signal to cause the AGV to align a first elongate arm of the at least one elongate arm with a receptacle at a loader, and 
 cause a first driver of the at least one driver to move a select distance along the length of the first elongate arm; 
 
 
 at least one winder, each winder of the at least one winder having a chuck; 
 a loader having a robotic arm with an end effector; and 
 a computing device comprising at least one second processor and a memory in communication with the at least one second processor, wherein the memory has instructions thereon that, when executed by the at least one second processor of the computing device, cause the at least one second processor of the computing device to:
 cause the AGV to align one elongate arm of the at least one elongate arm of the doffing apparatus with the chuck of the at least one winder; 
 cause the chuck to doff a material package onto to the one elongate arm of the doffing apparatus; 
 cause the AGV to move toward the loader; 
 cause the AGV to align the doffing apparatus with the end effector of the robotic arm; and 
 cause the driver to doff the material package to the end effector of the robotic arm. 
 
 
     
     
       2. The system of  claim 1 , wherein each driver of the doffing apparatus comprises:
 a worm drive comprising a worm wheel and a worm, wherein the worm extends longitudinally along a corresponding elongate arm, and 
 a collar that is slidable along the corresponding elongate arm, wherein the collar is coupled to the worm so that rotation of the worm causes translation of the collar. 
 
     
     
       3. The system of  claim 1 , wherein the doffing apparatus further comprises a chassis that is configured to be secured to an upper surface of the AGV. 
     
     
       4. The system of  claim 3 , wherein the at least one elongate arm of the doffing apparatus comprises first and second elongate arms positioned on opposing sides of the chassis, and wherein the at least one driver comprises first and second drivers, wherein the first driver is configured to move along the first elongate arm, and wherein the second driver is configured to move along the second elongate arm. 
     
     
       5. A doffing system comprising:
 an AGV; 
 a doffing apparatus that is coupled to the AGV, wherein the doffing apparatus comprises:
 at least one elongate arm, each elongate arm having a proximal end, a distal end, and a length, wherein at least a portion of each elongate arm of the at least one elongate arm is configured to support at least one bobbin on the elongate arm; and 
 at least one driver, each driver being configured to move along a respective elongate arm to move a bobbin toward the distal end of the elongate arm, wherein when at least one bobbin is supported on the respective elongate arm, distal movement of the driver along the respective elongate arm is configured to move the at least one bobbin toward the distal end of the elongate arm; 
 at least one alignment device configured to provide an output indicative of a location of one or more elongate arms with respect to one or more target locations; and 
 at least one processor, wherein the at least one processor is configured to:
 receive feedback from the at least one alignment device, 
 provide a control signal to cause the AGV to align a first elongate arm of the at least one elongate arm with a receptacle at a loader, and 
 cause a first driver of the at least one driver to move a select distance along the length of the first elongate arm, 
 
 
 wherein the doffing system is in communication with a computing device comprising at least one second processor and a memory in communication with the at least one second processor, wherein the computing device is in communication with:
 at least one winder, each winder of the at least one winder having a chuck; and 
 a loader having a robotic arm with an end effector, 
 
 wherein the memory has instructions thereon that, when executed by the at least one second processor of the computing device, cause the at least one second processor of the computing device to:
 cause the AGV to align one elongate arm of the at least one elongate arm of the doffing apparatus with the chuck of the at least one winder; 
 cause the chuck to doff a material package onto said one elongate arm of the doffing apparatus; 
 cause the AGV to move toward the loader; 
 cause the AGV to align the doffing apparatus with the end effector of the robotic arm; and 
 cause the driver to doff the material package to the end effector of the robotic arm. 
 
 
     
     
       6. The doffing system of  claim 5 , wherein the at least one processor is physically associated with the AGV. 
     
     
       7. The doffing system of  claim 5 , wherein the at least one processor is physically associated with the doffing apparatus. 
     
     
       8. The doffing system of  claim 5 , wherein the at least one alignment device comprises a laser range detector, wherein the laser range detector is configured to:
 emit a laser beam toward a surface of the one or more target locations; 
 receive a reflection of the laser beam from the surface of the one or more target locations; and 
 determine a distance from the laser range detector to the surface of the one or more target locations based on the received reflection of the laser beam. 
 
     
     
       9. The doffing system of  claim 8 , wherein the one or more target locations comprises a body defining a cylindrical recess. 
     
     
       10. The doffing apparatus of  claim 5 , wherein the at least one alignment device comprises a camera that is configured to capture an image having a reference surface therein, wherein the processor is further configured to:
 receive the image, and 
 determine, based on the image, a position of the doffing apparatus relative to the reference surface. 
 
     
     
       11. The doffing system of  claim 5 , wherein each driver of the doffing apparatus comprises:
 a worm drive comprising a worm wheel and a worm, wherein the worm extends longitudinally along a corresponding elongate arm, and 
 a collar that is slidable along the corresponding elongate arm, wherein the collar is coupled to the worm so that rotation of the worm causes translation of the collar. 
 
     
     
       12. The doffing system of  claim 5 , wherein the doffing apparatus comprising a chassis that is coupled to an upper surface of the AGV. 
     
     
       13. The doffing system of  claim 12 , wherein the at least one elongate arm comprises first and second elongate arms positioned on opposing sides of the chassis, and wherein the at least one driver comprises first and second drivers, wherein the first driver is configured to move along the first elongate arm, and wherein the second driver is configured to move along the second elongate arm. 
     
     
       14. The system of  claim 1 , further comprising a tube magazine station, the tube magazine station comprising:
 a hopper having at least one compartment, wherein the hopper defines a respective inlet opening and a respective outlet in communication with each compartment of the at least one compartment, wherein each inlet opening is configured to receive at least one empty bobbin, wherein each outlet is sized to allow one respective empty bobbin at a time to pass therethrough, wherein each compartment of the at least one compartment has a lower surface with a slope that is configured to bias the at least one empty bobbin toward the outlet in communication with the compartment; and 
 at least one lip, wherein the at least one lip is configured to retain the respective one empty bobbin as the respective one empty bobbin exits each outlet. 
 
     
     
       15. The system of  claim 14 , wherein the at least one compartment comprises a plurality of compartments, wherein the at least one outlet comprises a plurality of outlets, wherein the at least one lip comprises a plurality of lips, wherein a respective lip of the plurality of lips is associated with each outlet and is configured to retain the respective empty bobbin in axial alignment with each other empty bobbin retained by the respective lip associated with each other outlet. 
     
     
       16. The system of  claim 15 , wherein the memory has instructions that, when executed by the at least one second processor, cause the at least one second processor to:
 cause the AGV to align one elongate arm of the at least one elongate arm of the doffing apparatus with each empty bobbin retained by the at least one lip of the tube magazine station; and 
 cause the AGV to move to receive each empty bobbin retained at each outlet of the plurality of compartments on the one elongate arm. 
 
     
     
       17. The system of  claim 16 , wherein, the memory has instructions that, when executed by the at least one second processor, cause the at least one second processor to:
 cause the AGV to move to a winder of the at least one winder; 
 cause the AGV to align the one elongate arm of the at least one elongate arm of the doffing apparatus with the chuck of the winder; and 
 cause the doffing apparatus to doff each empty bobbin received on the one elongate arm onto the chuck of the winder. 
 
     
     
       18. A system comprising:
 an AGV; 
 a doffing apparatus that is coupled to the AGV, wherein the doffing apparatus comprises:
 at least one elongate arm, each elongate arm having a proximal end, a distal end, and a length, wherein at least a portion of each elongate arm of the at least one elongate arm is configured to support at least one bobbin on the elongate arm; and 
 at least one driver, each driver being configured to move the at least one bobbin toward the distal end of the elongate arm; 
 
 at least one winder, each winder of the at least one winder having a chuck; 
 a loader having a robotic arm with an end effector; and 
 a computing device comprising at least one second processor and a memory in communication with the at least one second processor, wherein the memory has instructions thereon that, when executed by the at least one second processor of the computing device, cause the at least one second processor of the computing device to:
 cause the AGV to align one elongate arm of the at least one elongate arm of the doffing apparatus with the chuck of the at least one winder; 
 cause the chuck to doff a material package onto to the one elongate arm of the doffing apparatus; 
 cause the AGV to move toward the loader; 
 cause the AGV to align the doffing apparatus with the end effector of the robotic arm; and 
 cause the driver to doff the material package to the end effector of the robotic arm.